CN106786956B - Group's unmanned plane power supply unit - Google Patents
Group's unmanned plane power supply unit Download PDFInfo
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- CN106786956B CN106786956B CN201710017772.XA CN201710017772A CN106786956B CN 106786956 B CN106786956 B CN 106786956B CN 201710017772 A CN201710017772 A CN 201710017772A CN 106786956 B CN106786956 B CN 106786956B
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- 238000007600 charging Methods 0.000 claims abstract description 27
- 230000008878 coupling Effects 0.000 claims abstract description 19
- 238000010168 coupling process Methods 0.000 claims abstract description 19
- 238000005859 coupling reaction Methods 0.000 claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 5
- 239000000446 fuel Substances 0.000 claims abstract description 4
- 239000000295 fuel oil Substances 0.000 claims abstract description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 4
- 239000003463 adsorbent Substances 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims 1
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- 239000003921 oil Substances 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000005674 electromagnetic induction Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
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- 238000005070 sampling Methods 0.000 description 2
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- 230000035945 sensitivity Effects 0.000 description 1
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- 230000009469 supplementation Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- H02J7/025—
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- H02J5/005—
Abstract
The group's unmanned plane power supply unit for the non-contact type charging based on electromagnetic coupling that the invention discloses a kind of, it include: host, the host provides fuel by fuel oil for it, carry at least one power supply, including multiple transmitting terminals, and each transmitting terminal has transmitting coil and the first resonance coil corresponding with transmitting coil, the power supply is electrically connected with the transmitting terminal；And at least one sub- unmanned plane, every sub- unmanned plane carries repeatable charging unit, and every sub- unmanned plane includes a receiving end, the receiving end has receiving coil and the second resonance coil corresponding with receiving coil, the receiving end is electrically connected with the repeatable charging unit, wherein each transmitting terminal can be a sub- unmanned plane charging, and the transmitting coil, first resonance coil, second resonance coil and receiving coil constitute an electromagentic resonance formula coupling mechanism, and the host further includes a landing platform, the landing platform, which is attached on the pedestal of host, is used to support the sub- unmanned plane.
Description
Technical field
It charges the present invention relates to a kind of unmanned plane power supply system more particularly to a kind of non-contact type based on electromagnetic coupling
Group's unmanned plane power supply unit is used for while charging to multiple small drone, to guarantee the continuation of the journey of unmanned plane.
Background technique
And have it is man-machine compared with, unmanned plane has many advantages: it is small and light and be not easy to be found, development and maintenance cost is low,
Mobility is good, landing requirement is low.Popular with unmanned plane, application field has covered scientific research, civilian and military.The world
On be engaged in unmanned plane research and production country already exceed 30, unmanned plane basic model quantity has increased to more than 300 kinds.
In all index of assessment unmanned plane performance quality, the cruising ability of unmanned plane is an important index, and
Long voyage is also one of the Main Trends of The Development of unmanned plane from now on.For unmanned plane, longer cruising ability is meant that
Can more efficiently, sustainably complete task, especially in the future war raced against time, long course continuation mileage can be risen
It is acted on to battle field information is constantly obtained.It can provide battery and oil gas unmanned plane on Vehicles Collected from Market, current maximum battery
Unmanned plane can only probably navigate by water 1 hour or so；Relative to battery unmanned plane, the time that oil gas unmanned plane can navigate by water is relatively long
Very much, but oil gas unmanned plane is no matter from sensitivity or volume, all flexible not as good as battery unmanned plane.
At present from energy angle, increases the approach of unmanned plane course continuation mileage to sum up can be divided mainly into two kinds: taking
Electric energy supply is repeatedly carried out with more electric energy or in task.For the former, due to the battery skill of current comparative maturity
Art has had evolved to bottleneck period, and bigger accumulator capacity means that bigger battery volume and weight, thus increases
Add accumulator capacity that will influence the mobility and lightweight of unmanned plane；For feeding this way by repeatedly carrying out electric energy
Diameter, if it is the charging technique based on conventional contact electric energy conduction pattern, it means that unmanned plane is requiring supplementation with electric energy
When require to return and drop in base station or female port, and put into manpower and charge for it, it is clear that such mode is reliable
Property, flexibility, convenience etc. is insufficient, and the hovering charged form safety based on which is low, to unmanned plane
Every technical performance has very high requirement, realizes that difficulty is big.Therefore, design one kind can make unmanned plane in task flexibly,
The scheme that easily charges and be necessary to realizing that the technology of the program carries out research.
Summary of the invention
The problem of present invention aim to address background techniques provides the method for kind of groups unmanned plane power supply,
Realizing, which can be used for, actually charges to multi rack small drone.
According to an aspect of the present invention, the present invention provide it is a kind of based on electromagnetic coupling non-contact type charging group without
Man-machine power supply unit, comprising:
Host, the host are six rotor wing unmanned aerial vehicles, and the host provides fuel by fuel oil for it, carries at least one
Power supply, including multiple transmitting terminals, and each transmitting terminal has transmitting coil and the first resonance line corresponding with transmitting coil
Circle, the power supply are electrically connected with the transmitting terminal；
At least one sub- unmanned plane, every sub- unmanned plane carries repeatable charging unit, and every sub- unmanned plane includes
One receiving end, the receiving end have receiving coil and the second resonance coil corresponding with receiving coil, the receiving end
It is electrically connected with the repeatable charging unit,
Wherein each transmitting terminal can be a sub- unmanned plane charging, and the transmitting coil, the first resonance coil, second total
Shake coil and receiving coil one electromagentic resonance formula coupling mechanism of composition, and the host further includes a landing platform, institute
It states landing platform and is attached on the pedestal of host and be used to support the sub- unmanned plane.
According to a preferred embodiment of the invention, the transmitting terminal and receiving end all include power inverter.
According to a preferred embodiment of the invention, the sub- unmanned plane includes navigation system.
According to a preferred embodiment of the invention, the navigation system is vision navigation system and/or inertial navigation
System.
According to a preferred embodiment of the invention, the repeatable charging unit is battery.
According to a preferred embodiment of the invention, adsorbent equipment is installed on the landing platform.
According to a preferred embodiment of the invention, the adsorbent equipment is magnet.
Due to the adoption of the above technical scheme, kind of groups unmanned plane power supply unit provided by the invention and prior art phase
Than the problems such as can not cruising for a long time, proposing one the utility model has the advantages that the present invention is short for unmanned plane cruise duration with as
Kind of groups unmanned plane power supply unit, host carry power supply using large-scale oil-burning machine, by the EMR electromagnetic resonance of coupling coil by energy
It passes to and is distributed in surrounding small drone, the spirit of unmanned plane is also ensured while improving the cruising ability of unmanned plane
Activity.Landing platform is provided for unmanned plane simultaneously, to ensure that small drone accurately finds charge position, and is firmly stopped
Charge position is leaned against, is had broad application prospects.
Detailed description of the invention
Fig. 1 is the simplified diagram according to group's unmanned plane power supply unit of one embodiment of the invention；
Fig. 2 is the schematic illustration of the non-contact type charging technique of electromagnetic coupling of the invention；
Fig. 3 is the UAV Navigation System schematic diagram according to one embodiment of the invention；
Fig. 4 is the charging flow schematic diagram according to group's unmanned plane power supply unit of one embodiment of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It is described in detail referring now to an embodiment of Fig. 1-4 pairs of group's unmanned plane power supply units of the invention.Its
In, Fig. 1 shows the simplified diagram of group's unmanned plane power supply unit of an embodiment according to the present invention.Such as Fig. 1 institute
Show, group's unmanned plane power supply unit includes a host 1 and six sub- unmanned planes 2.Preferably, host 1 is medium-and-large-sized six rotor
Unmanned plane, using fuel oil as fuel, cruising ability is strong, and equipped with power supply 3, wherein power source supplies AC.In this reality
It applies in scheme, host 1 includes 6 transmitting terminals 11, and each transmitting terminal 11 has transmitting coil 111 and corresponding with transmitting coil
The first resonance coil 112, be wherein electrically connected between power supply 3 and transmitting terminal 11, power supply generate alternating current flow through transmitting terminal
Transmitting coil and the first resonance coil corresponding with transmitting coil generate a magnetic field.Preferably, power supply and transmitting terminal it
Between there are a power inverter, power converter can convert high-frequency alternating current for the low frequency ac that power supply discharges.Son
Unmanned plane 2 carries repeatable charging unit, is in the present embodiment battery, and sub- unmanned plane 2 is equipped with receiving end 21, receives
End has receiving coil 211 and the second resonance coil 212 corresponding with receiving coil, the second resonance coil 212 and the first resonance
It carries out intercoupling between coil 112 and generates a coupled magnetic field, receiving coil 211 generates electric current in response to coupled magnetic field, is
Storage battery power supply.Preferably, there are a power inverters between receiving end 21 and battery.By this method, host passes through
Electromagnetic induction coupling principle gives six small-sized sub- unmanned plane chargings simultaneously.In addition, further including landing platform 4 on host 1, landing is flat
Platform is attached on the pedestal of host, provides support for sub- unmanned plane 2.Optionally, landing platform 4 can be an integral structure,
It may correspond to each transmitting terminal and a landing platform be respectively set.When group unmanned plane 2 is close to host 1, it can stop
On landing platform, keep the relative position between sub- unmanned plane and host more stable, charges relatively reliable.Preferably, it is dropping
It falls and adsorbent equipment is set on platform, for the sub- unmanned plane of fixed landing on it.Adsorbent equipment can be magnet, utilize magnetic force
Sub- unmanned plane is adsorbed on its charge position.When charging, sub- unmanned plane is dropped on landing platform, adsorbent equipment by son nobody
Machine is secured in position, and after charging complete, adsorbent equipment discharges sub- unmanned plane, and sub- unmanned plane flies away from charge position.Due to being provided with drop
Platform is fallen, so that group's unmanned plane charging unit of the invention had not only had the advantages that the flexible, convenient of non-contact type charging, but also is protected
The reliability of charging is demonstrate,proved.
Fig. 2 shows the schematic illustrations of magnetic-coupled non-contact type charging technique.When small unmanned plane 2 is close to host 1, drop
When falling in its charge position, electromagentic resonance, energy are generated between the electromagnetic coupling coil of small drone and the coupling coil of host
Amount can give sub- unmanned plane by host power supply non contact transmission, realize charging of the host to sub- unmanned plane.Specifically, emission lines
The 111, first resonance coil 112 of circle, the second resonance coil 212 and receiving coil 211 constitute electromagentic resonance formula coupling machine, and first
Coupled magnetic field is formed between resonance coil 112 and the second resonance coil 212.In order to reduce skin effect, four coils are all made of
Ritz coil winding forms.Preferably, the quality factor q for the resonance coil itself that two intercouple is designed it is higher, lead to
Cross the resonance coil of the two high q-factor, the magnetic field of higher intensity can be generated in space, allow electric energy it is farther away away from
From efficiently being transmitted.
The basic skills of analysis of Electromagnetic near-field coupling wireless power transmission technology is Mutual Inductance Coupling theory, basic principle
It is magnetic field coupling, its basic principle is briefly described below.When original grade coil accesses industrial-frequency alternating current, secondary coil passes through
Electromagnetic induction generates induced electromotive force.If I1And I2It is the current value in original grade coil and secondary coil respectively, M is between coil
Mutual inductance.When accessing the high-frequency ac voltage that angular frequency is ω in original grade coil, space of the meeting around original grade coil
Generate electromagnetic field of high frequency.Due to intercoupling between original grade coil and secondary coil, secondary coil can then sense original grade coil
The electromagnetic field of high frequency of generation generates high-frequency induction electromotive force.Induced voltage on secondary coil is the electric current I by original grade coil1Certainly
Fixed, the value of induced voltage is equal to j ω MI1.It is produced simultaneously as can also be sensed on mutual inductance principle original grade coil by secondary coil
Raw electromagnetic field, to generate high-frequency induction voltage, value is by secondary current I2It determines, is equal to-j ω MI2.Work as raising
When being input to the pulsation of original grade coil, the transimission power and efficiency of coupling mechanism can be greatly improved.So
And the impedance of coil can become very big with the increase of angular frequency, therefore, very big reactive loss can be generated on coil.
In order to reduce reactive loss, so that transimission power is reached maximum, a capacitor can generally be added on resonance coil and compensate, make
Coupling mechanism works in resonant state.
It in flight course, is communicated between sub- unmanned plane and host, sub- unmanned plane and master is carried out by navigation system
Relative position control between machine, guarantees accurately to find charge position.Navigation system is the important equipment on sub- unmanned plane carrier,
Its main task is under the premise of pre-specified sail plan, with permissible accuracy, within a certain period of time by carrier pilotage
To destination.For this purpose, navigation system, which is necessary for sub- unmanned plane, provides accurate navigational parameter, such as flying speed, vector, fly
The information such as machine height, aircraft position and attitude angle.Navigation system can be vision navigation system or inertial navigation system.
Fig. 3 shows the sub- UAV Navigation System schematic diagram of the present embodiment, which is vision guided navigation and is used to
Property guiding combination mode, based on corresponding navigation algorithm realize the relative position between sub- unmanned plane and host control, this
Using multi tate Kalman's information fusion algorithm in embodiment.Specifically it is explained as follows:
Vision navigation system mainly use high-precision vision camera to target position information and locating environmental information into
Row Image Acquisition calculates relative position and attitude angle by monocular vision navigation algorithm after a series of image procossing
Equal navigation informations.Vision guided navigation has complicated unknown flight environment of vehicle Real-time modeling set, autonomous positioning and the technical characterstic of navigation.Sub- nothing
Man-machine platform can be acquired simultaneously by carrying the multiple sensors such as visible image capturing head, infrared camera and laser range finder
Multidimensional flight environment of vehicle information is unknown using the data interaction and cooperated computing frame, real-time reconstruction of airborne processor and earth station
The threedimensional model of flight environment of vehicle realizes autonomous positioning and autonomous vision avoidance, tracking and landing.
Inertial navigation system then by sub- unmanned plane fly control the inertia sensitive elements such as built-in acceleration meter and gyro antithetical phrase without
Acceleration and angular speed information carries out the sampling of rapid rate in all directions that man-machine relative motion generates, by inertial navigation algorithm
Calculate a variety of navigation informations such as speed, attitude angle, position and the angular speed of sub- unmanned plane.But due to accelerometer and gyro
The drift of instrument itself can make system generate error, which accumulates at any time and become larger, it is therefore necessary to introduce vision navigation system
It is modified.
Realize that integrated navigation system needs to carry out optimal estimation to system, the filtering method of optimal estimation at present mainly has
Wiener filtering, Kalman filter and H ∞ filtering etc..Wiener filtering be a kind of classics filtering method, but its only from frequently
Optimal estimation has been carried out to steady state on domain；Kalman filter has then broken above-mentioned limitation, is a kind of time-domain filtering method.Its
Using linear system state equation, data are observed by system input and output, the algorithm of optimal estimation is carried out to system mode.
Kalman filter algorithm uses recursive form, and data storage capacity is small, not only can handle steady random engineering, can also handle more
The random engineering of peacekeeping non-stationary.Therefore Kalman filtering is generally used when being combined Navigation System Design.The present invention adopts
Optimal estimation is carried out with the kalman filter method of the indirect method of " position and attitude matching " estimation and output calibration.Vision is led
Boat inputs to filter as measuring value with the position of inertial navigation and the difference of attitude angle.But due to vision and inertial navigation system
The sampling period of system is not identical, it is therefore necessary to solve the problems, such as multi-rate filtering with a kind of multi tate Kalman information fusion algorithm.
Vision navigation system utilizes the posture and location parameter of standard, and collimation error model is added, opposite through monocular vision
Navigation algorithm calculates the navigational parameters such as relative position and attitude angle.The gyro and accelerometer measures standard of inertial navigation system
Acceleration and angular speed information, be added ins error model, resolve to obtain position, speed and posture etc. through inertial navigation algorithm
Relative Navigation parameter.Relative position that two subsystems measure respectively and attitude parameter are through multi tate Kalman's information fusion algorithm
Filtering, estimates optimal relative position, speed and attitude parameter.
Be described in detail in conjunction with charging method of the Fig. 2 and Fig. 4 to group's unmanned plane power supply unit of the invention, group nobody
When machine senses not enough power supply in flight course, sub- unmanned plane searches for nearest host and charges, and sub- unmanned plane can
To make the receiving end of sub- unmanned plane be placed in host using the position of its navigation system identification positioning destination host loaded
In the induction range of one transmitting terminal；The power supply of host is set to discharge alternating current, the transmitting coil of the transmitting terminal and the first resonance
Coil generates a magnetic field in response to alternating current；The second resonance coil and the first resonance coil of the receiving end of sub- unmanned plane are mutual
Coupling generates a coupled magnetic field, and receiving coil generates an electric current；And receiving coil charges to battery, has charged
Cheng Hou, sub- unmanned plane fly away from charge position.It is filled it should be understood that the power supply release alternating current of host can enter in sub- unmanned plane
Before electric position.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (7)
1. a kind of group's unmanned plane power supply unit of the non-contact type charging based on electromagnetic coupling characterized by comprising
Host, the host are six rotor wing unmanned aerial vehicles, and the host provides fuel by fuel oil for it, carry at least one electricity
Source, including multiple transmitting terminals, and each transmitting terminal has transmitting coil and the first resonance coil corresponding with transmitting coil,
The power supply is electrically connected with the transmitting terminal；
At least one sub- unmanned plane, every sub- unmanned plane carries repeatable charging unit, and every sub- unmanned plane includes one
Receiving end, the receiving end have receiving coil and the second resonance coil corresponding with receiving coil, the receiving end and institute
Repeatable charging unit electrical connection is stated,
Wherein each transmitting terminal can charge for a sub- unmanned plane, and the transmitting coil, the first resonance coil, the second resonance line
Circle and receiving coil constitute an electromagentic resonance formula coupling mechanism, and the host further includes a landing platform, the drop
It falls platform and is attached on the pedestal of host and be used to support the sub- unmanned plane.
2. group's unmanned plane power supply unit according to claim 1, which is characterized in that the transmitting terminal and receiving end Dou Bao
Include power inverter.
3. group's unmanned plane power supply unit according to claim 1, which is characterized in that the sub- unmanned plane includes navigation system
System.
4. group's unmanned plane power supply unit according to claim 3, which is characterized in that the navigation system is vision guided navigation
System and/or inertial navigation system.
5. group's unmanned plane power supply unit according to claim 1, which is characterized in that the repeatable charging unit is to store
Battery.
6. group's unmanned plane power supply unit described in any one in -5 according to claim 1, which is characterized in that the landing
Adsorbent equipment is installed on platform.
7. group's unmanned plane power supply unit according to claim 6, which is characterized in that the adsorbent equipment is magnet.
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| CN107264786A (en) * | 2017-06-08 | 2017-10-20 | 北京化工大学 | A kind of two-stage balanced control device of multi-rotor unmanned aerial vehicle aircraft carrier |
| CN107444642A (en) * | 2017-08-16 | 2017-12-08 | 广东容祺智能科技有限公司 | A kind of flight system of large-scale UAV flight's SUAV |
| CN108032742B (en) * | 2017-11-15 | 2020-02-11 | 上海交通大学 | Unmanned aerial vehicle high-altitude non-contact energy supply system and method |
| CN108528720B (en) * | 2018-05-03 | 2021-11-26 | 绍兴州致电子有限公司 | Shared unmanned aerial vehicle garbage classification and recovery system suitable for scenic spot and working method thereof |
| CN109435712A (en) * | 2018-10-24 | 2019-03-08 | 哈尔滨工业大学（威海） | The magnetic coupling arrangement and system of unmanned plane wireless charging |
| CN109733567B (en) * | 2018-12-31 | 2020-01-14 | 上海孚实船舶科技有限公司 | Method for carrying out non-contact charging on underwater operation unit by using AUV (autonomous Underwater vehicle) |
| CN110497803A (en) * | 2019-08-05 | 2019-11-26 | 国网电力科学研究院武汉南瑞有限责任公司 | A kind of high reliability wireless energy supply system and method |
| CN113928557A (en) * | 2021-10-21 | 2022-01-14 | 北京天玛智控科技股份有限公司 | Integrated flight carrier of a plurality of many rotor unmanned aerial vehicles |
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